From Spinal Central Pattern Generators to Cortical Network: Integrated BCI for Walking Rehabilitation

Figure 2

Kinematics of the lower limb predicted by a DRNN receiving shoulder muscles EMG signals. (a) During the learning phase, smoothed and rectified EMG signals of the anterior and posterior deltoid muscle (AD, PD) are used as input while the elevation angles of the feet (FT), the shank (SK), and the thigh (TH) are the desired outputs. (b) Superimposition of the real and simulated elevation angle curves. (c) During the prediction phase, unlearned EMG used as input to the DRNN. (d) Superimposition of the real and simulated elevation angle curves produced by unlearned EMG data.